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Master-slave operation and man-machine integration system

An operating system and man-machine technology, applied in the field of robotics, can solve problems such as long transmission distance, achieve the effect of long transmission distance and improve operation performance

Active Publication Date: 2021-07-20
SECOND MILITARY MEDICAL UNIV OF THE PEOPLES LIBERATION ARMY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there is no corresponding disclosure about a technical solution that can effectively complete the operation task, can control the actions of the actuators of the mechanical fingers, can autonomously cope with complex environments, and has a long transmission distance.
[0010] To sum up, there is a need for a master-slave operation and man-machine integration system that can effectively complete the operation task, can control the actions of the actuators of the mechanical fingers, can independently cope with complex environments, and has a long transmission distance. The integrated system has not yet been reported

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0052] Please refer to Figure 1-Figure 3 , figure 1 It is a structural block diagram of the master-slave operation and man-machine integration system of the present invention. figure 2 It is a side structural schematic diagram of the master-slave operation and man-machine integration system of the present invention. image 3 It is another side structural schematic diagram of the master-slave operation and man-machine integration system of the present invention. A master-slave operation and human-machine integrated operating system, the master-slave operation and man-machine integrated system includes arm remote operating system 1, hand remote operating system 2, arm remote operating system main control module 3, arm remote operating system Operating software system 4, arm remote operation man-machine integrated interface 5.

[0053] The arm teleoperating system 1 includes an operator, a master robot subsystem, a communication link, a slave robot subsystem and a working en...

Embodiment 2

[0069] This embodiment is basically the same as Embodiment 1, and the difference is that a dual-arm robot control model is provided in this embodiment; the dual-arm robot control model includes a command layer (mainly including a command generator), a local Control layer (mainly including local controller), network layer (two-way communication between master and slave), remote control layer (mainly including remote controller) and physical layer (robot system); locally, the command generator transmits commands to the local The controller, the local controller takes the clock Clock1 as the cycle, samples the commands generated by the command generator and the status of the remote robot transmitted through the network, generates control commands and sends them to the remote controller through the network; the remote controller takes the clock Clock2 as the cycle , sample the control command of the local controller and send the state of the robot to the local controller through th...

Embodiment 3

[0071] This embodiment is basically the same as Embodiment 1, except that this embodiment provides a delay control method for operating a robot, using a 433MH wireless data transmission system with a delay rate of 100 milliseconds.

[0072] What needs to be explained in this embodiment is:

[0073]In the teleoperation robot system, the master end and the slave end are far apart, and the two rely on the communication link for information transmission. Due to the limitations of the transmission speed of electromagnetic waves and signal sending and receiving processing, there is a time delay in the teleoperation robot system, and it is often large and cannot be ignored. For example, in the field of space teleoperation, the average space-to-ground delay is less than 3 seconds, the probability of the delay time being within 5 seconds is greater than 95%, and the average jitter is between 0.357ms and 20.45ms. In addition to the delay caused by the distance, the compression / reproduc...

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Abstract

The present invention relates to a master-slave operation and human-machine integration system. The master-slave operation and man-machine integration system includes: arm remote operating system, hand remote operating system, arm remote operating system main control module, arm remote operating system Software system, arm teleoperation human-machine integrated interface; the arm teleoperation system is used to control the action instructions for the robot arm; the hand teleoperation system is used to control the robot hand action instructions; the The main control module of the arm teleoperation system establishes a connection with the arm teleoperation system; the man-machine integrated interface of the arm teleoperation is used for real-time reaction of various data graphics when the dual-arm robot is running. Its advantages are as follows: the master-slave operation and man-machine integration system of the present invention can effectively complete the operation tasks, can control the actions of the actuators of the mechanical fingers, can independently cope with complex environments, and has a long transmission distance.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a master-slave operation and man-machine integration system. Background technique [0002] With the continuous development of science and technology, and the rapid increase in the fields where robots replace human beings, the development of various robots has become a topic of common concern to all countries and militaries in the world. Due to the unknown working environment of the robot, humans cannot reach or can only obtain job information through video on many occasions. The location of the job needs to be random and accidents may occur at any time during the grabbing process. If people are close to the job site, accidents may occur at any time can happen. Therefore, in this special environment, the robot adopts master-slave operation for remote control operation, which reduces the difficulty of processing, which is of great significance for improving the overall technical le...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1689
Inventor 于旭东徐惠忠徐振华刘文宝陶峰任东彦朱宗成
Owner SECOND MILITARY MEDICAL UNIV OF THE PEOPLES LIBERATION ARMY
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